WO2005091090A3 - Systeme de robot industriel, procede et programme informatique correspondants - Google Patents

Systeme de robot industriel, procede et programme informatique correspondants Download PDF

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Publication number
WO2005091090A3
WO2005091090A3 PCT/EP2005/002790 EP2005002790W WO2005091090A3 WO 2005091090 A3 WO2005091090 A3 WO 2005091090A3 EP 2005002790 W EP2005002790 W EP 2005002790W WO 2005091090 A3 WO2005091090 A3 WO 2005091090A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot system
computer program
defined point
spatially defined
industrial robot
Prior art date
Application number
PCT/EP2005/002790
Other languages
English (en)
Other versions
WO2005091090A2 (fr
Inventor
Sven-Erik Johansson
Christian Poljen
Original Assignee
Abb Ab
Sven-Erik Johansson
Christian Poljen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from SE0400918A external-priority patent/SE0400918D0/xx
Application filed by Abb Ab, Sven-Erik Johansson, Christian Poljen filed Critical Abb Ab
Publication of WO2005091090A2 publication Critical patent/WO2005091090A2/fr
Publication of WO2005091090A3 publication Critical patent/WO2005091090A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39124—Grasp common rigid object, no movement end effectors relative to object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39141—Slave program has no taught positions, receives position from master, convert from master
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40417—For cooperating manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

Un système de robot industriel comprend une pluralité de parties du système robot (1, 2, 3), notamment des robots, leurs axes extérieurs ou leurs parties, et un système de commande comprenant au moins une unité de commande conçue pour effectuer les mouvements de chaque partie du système robot (1, 2, 3) conformément à au moins un programme informatique. Une première partie robot (1) possède un premier point défini spatialement (A), et une deuxième partie robot (1) possède un deuxième point défini spatialement (B, C). Au moins un programme informatique comprend des instructions de programme comportant des instructions de mouvement (5) destinées à déplacer le premier point défini spatialement (A) sur un trajet prédéfini, et au moins un programme informatique comprend des instructions de programme (6) pour maintenir la position du deuxième point défini spatialement (B, C) par rapport à la position du premier point défini spatialement (A) pendant le déplacement.
PCT/EP2005/002790 2004-03-16 2005-03-16 Systeme de robot industriel, procede et programme informatique correspondants WO2005091090A2 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US55311604P 2004-03-16 2004-03-16
US60/553,116 2004-03-16
US55498704P 2004-03-22 2004-03-22
US60/554,987 2004-03-22
SE0400918A SE0400918D0 (sv) 2004-04-05 2004-04-05 Industrial robot system, method and computer program
SE0400918-9 2004-04-05

Publications (2)

Publication Number Publication Date
WO2005091090A2 WO2005091090A2 (fr) 2005-09-29
WO2005091090A3 true WO2005091090A3 (fr) 2006-02-23

Family

ID=34962268

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/002790 WO2005091090A2 (fr) 2004-03-16 2005-03-16 Systeme de robot industriel, procede et programme informatique correspondants

Country Status (1)

Country Link
WO (1) WO2005091090A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011096185A1 (fr) * 2010-02-03 2011-08-11 パナソニック株式会社 Procédé de commande de système robot
DE102015204641B4 (de) * 2014-06-03 2021-03-25 ArtiMinds Robotics GmbH Verfahren und System zur Programmierung eines Roboters
JP6825686B1 (ja) 2019-12-17 2021-02-03 株式会社安川電機 生産システム、生産方法、及びプログラム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5254923A (en) * 1991-07-24 1993-10-19 Nachi-Fujikoshi Corp. Industrial robot synchronous control method and apparatus
JPH0720915A (ja) * 1993-07-06 1995-01-24 Fanuc Ltd ロボットの同期制御方法
WO2003039817A1 (fr) * 2001-11-07 2003-05-15 Kawasaki Jukogyo Kabushiki Kaisha Systeme de commande de collaboration de robots

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5254923A (en) * 1991-07-24 1993-10-19 Nachi-Fujikoshi Corp. Industrial robot synchronous control method and apparatus
JPH0720915A (ja) * 1993-07-06 1995-01-24 Fanuc Ltd ロボットの同期制御方法
WO2003039817A1 (fr) * 2001-11-07 2003-05-15 Kawasaki Jukogyo Kabushiki Kaisha Systeme de commande de collaboration de robots
EP1468791A1 (fr) * 2001-11-07 2004-10-20 Kawasaki Jukogyo Kabushiki Kaisha Systeme de commande de collaboration de robots

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
JIN-JANG LEOU ET AL: "ROBOT OPERATION MONITORING FOR COLLISION AVOIDANCE BY IMAGE SEQUENCE ANALYSIS", PATTERN RECOGNITION, ELSEVIER, KIDLINGTON, GB, vol. 25, no. 8, 1 August 1992 (1992-08-01), pages 855 - 867, XP000306313, ISSN: 0031-3203 *
TZAFESTAS C S ET AL: "Path planning and control of a cooperative three-robot system manipulating large objects", JOURNAL OF INTELLIGENT AND ROBOTIC SYSTEMS: THEORY AND APPLICATIONS KLUWER ACADEMIC PUBLISHERS NETHERLANDS, vol. 22, no. 2, June 1998 (1998-06-01), pages 99 - 116, XP008057274, ISSN: 0921-0296 *

Also Published As

Publication number Publication date
WO2005091090A2 (fr) 2005-09-29

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